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Add MSP command to allow changing pid controller.

This commit is contained in:
Dominic Clifton 2015-01-29 18:17:53 +01:00
parent 104a263533
commit 203c744763
1 changed files with 11 additions and 1 deletions
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12
src/main/io/serial_msp.c
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@ -125,7 +125,7 @@ void useRcControlsConfig(modeActivationCondition_t *modeActivationConditions, es
#define MSP_PROTOCOL_VERSION 0
#define API_VERSION_MAJOR 1 // increment when major changes are made
#define API_VERSION_MINOR 4 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_MINOR 5 // increment when any change is made, reset to zero when major changes are released after changing API_VERSION_MAJOR
#define API_VERSION_LENGTH 2
@ -209,6 +209,8 @@ const char *boardIdentifier = TARGET_BOARD_IDENTIFIER;
#define MSP_SONAR_ALTITUDE 58 //out message get sonar altitude [cm]
#define MSP_PID_CONTROLLER 59
#define MSP_SET_PID_CONTROLLER 60
//
// Baseflight MSP commands (if enabled they exist in Cleanflight)
//
@ -892,6 +894,10 @@ static bool processOutCommand(uint8_t cmdMSP)
headSerialReply(sizeof(pidnames) - 1);
serializeNames(pidnames);
break;
case MSP_PID_CONTROLLER:
headSerialReply(1);
serialize8(currentProfile->pidController);
break;
case MSP_MODE_RANGES:
headSerialReply(4 * MAX_MODE_ACTIVATION_CONDITION_COUNT);
for (i = 0; i < MAX_MODE_ACTIVATION_CONDITION_COUNT; i++) {
@ -1198,6 +1204,10 @@ static bool processInCommand(void)
currentProfile->accelerometerTrims.values.pitch = read16();
currentProfile->accelerometerTrims.values.roll = read16();
break;
case MSP_SET_PID_CONTROLLER:
currentProfile->pidController = read8();
setPIDController(currentProfile->pidController);
break;
case MSP_SET_PID:
if (currentProfile->pidController == 2) {
for (i = 0; i < 3; i++) {